Tracking of non-square nonlinear systems with model predictive control
Abstract
This paper presents a Model Predictive Control (MPC) algorithm for nonlinearsystems. It allows the tracking of reference signals constant after acertain time by imposing integral action on the error variables, rather thanon the control moves as in standard MPC methods. The plant under control,the state and control constraints and the performance index to be minimizedare described in continuous time, while the manipulated variables areallowed to change at fixed and uniformly distributed sampling times. Asimulation example is reported and discussed in detail.
